| """Archive primary sources and pinned code for the PhaseLatch design study. |
| |
| Only public text/code is fetched; no simulator or model is installed. |
| Existing repository pins are reused unless --refresh-pins is passed. |
| """ |
| import argparse |
| import concurrent.futures |
| import hashlib |
| import json |
| import re |
| import subprocess |
| import time |
| import urllib.request |
| from datetime import datetime, timezone |
| from html.parser import HTMLParser |
| from pathlib import Path |
|
|
| ROOT = Path(__file__).resolve().parents[1] |
| SOURCES = { |
| "embodiedswe_site": "https://embodiedswe.github.io/", |
| "embodiedswe_paper": "https://arxiv.org/html/2609.27308v1", |
| "oopsie_paper": "https://arxiv.org/html/2606.31993v1", |
| "oopsie_site": "https://robin-lab.cs.utexas.edu/oopsieverse/", |
| "reflex_paper": "https://arxiv.org/html/2608.14379v1", |
| "hazard_paper": "https://arxiv.org/html/2401.12975v1", |
| "dojo_paper": "https://arxiv.org/html/2607.04434v1", |
| "pro_paper": "https://arxiv.org/html/2510.03827v1", |
| "twin_paper": "https://arxiv.org/html/2506.18088v2", |
| "safelab_site": "https://yingwen.io/en/publications/safelab-an-interactive-high-fidelity-benchmark-for-embodied-safety-in-scientific-robotics/", |
| "safelab_proceedings": "https://proceedings.mlr.press/v306/bai26e.html", |
| "safelab_pdf": "https://raw.githubusercontent.com/mlresearch/v306/main/assets/bai26e/bai26e.pdf", |
| "safevla_paper": "https://arxiv.org/html/2606.00773v1", |
| "dynamicvla_paper": "https://arxiv.org/html/2601.22153v1", |
| "latent_safety_site": "https://kensukenk.github.io/latent-safety/", |
| "mujoco_equality": "https://mujoco.readthedocs.io/en/stable/XMLreference.html", |
| "mujoco_computation": "https://mujoco.readthedocs.io/en/stable/computation/index.html", |
| "mujoco_modeling": "https://mujoco.readthedocs.io/en/stable/modeling.html", |
| "physx_joints": "https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/Joints.html", |
| "newton_docs": "https://newton-physics.github.io/newton/", |
| "domino_paper": "https://arxiv.org/html/2603.15620v1", |
| "dlo_paper": "https://arxiv.org/html/2606.04206v1", |
| "plasticine_site": "https://plasticinelab.csail.mit.edu/", |
| "disect_site": "https://diff-cutting-sim.github.io/", |
| "empm_site": "https://embodied-mpm.github.io/", |
| "redman_paper": "https://link.springer.com/article/10.1007/s10994-025-06825-x", |
| "reflex_site": "https://reflexvla.github.io/", |
| "fluidlab_site": "https://fluidlab2023.github.io/", |
| } |
| REPOS = { |
| "swe": "EmbodiedSWE/EmbodiedSWE", |
| "dojo": "RoboDojo-Benchmark/RoboDojo", |
| "twin": "RoboTwin-Platform/RoboTwin", |
| "pro": "Zxy-MLlab/LIBERO-PRO", |
| "safelab": "ChangWinde/SafeLab", |
| "reflex": "LxRoboticsLab/ReflexBench", |
| "oopsie": "UT-Austin-RobIn/oopsieverse", |
| } |
| CODE_TERMS = { |
| "dojo": ["base_env.py", "eval_env.py", "main.py", "insert", "button", "toolbox", "hammer", "handover"], |
| "twin": ["_base_task.py", "click_bell.py", "move_stapler_pad.py", "handover", "open", "put_bottles", "insert", "place_cans"], |
| "pro": ["env_wrapper.py", "libero_suite_task_map.py", "run_libero_eval.py", "perturb"], |
| "swe": ["cut", "fracture", "scene", "controller", "task", "grader"], |
| "safelab": ["safety", "constraint", "damage"], |
| "reflex": ["eval", "latency", "conveyor"], |
| "oopsie": ["damage", "health", "mechanical"], |
| } |
| FALLBACK_PATHS = { |
| "swe": ["README.md", "LICENSE", "robobench/README.md", "robobench/core/env.py", "robobench/controllers/task_space.py", "robobench/suites/cutting/scenes/slice_food.py", "robobench/suites/cutting/scenes/dice_food.py", "robobench/suites/cutting/grader/slice_food.py", "robobench/suites/puzzle/scenes/coffee_service.py", "vla/eval/sim.py"], |
| "dojo": ["README.md", "LICENSE", "env/environment/base_env.py", "src/eval_client/eval_env.py", "src/eval_client/main.py", "task/RoboDojo/tasks/insert_tubes.py", "task/RoboDojo/tasks/insert_key.py", "task/RoboDojo/tasks/fasten_screws.py", "task/RoboDojo/tasks/press_by_number.py", "task/RoboDojo/tasks/match_and_pick_from_conveyor.py", "task/RoboDojo/tasks/store_tools_in_toolbox.py"], |
| "twin": ["README.md", "LICENSE", "envs/_base_task.py", "envs/move_stapler_pad.py", "envs/click_bell.py", "envs/handover_block.py", "envs/put_bottles_dustbin.py"], |
| "pro": ["README.md", "LICENSE", "libero/libero/envs/env_wrapper.py", "libero/libero/benchmark/libero_suite_task_map.py"], |
| "safelab": ["README.md", "index.html"], |
| "reflex": ["README.md", "LICENSE", "scripts/evaluation/eval.py", "scripts/evaluation/POLICY_SERVER.md"], |
| "oopsie": ["README.md"], |
| } |
|
|
|
|
| def get(url): |
| req = urllib.request.Request(url, headers={"User-Agent": "PhaseLatch-research/0.1"}) |
| for attempt in range(3): |
| try: |
| with urllib.request.urlopen(req, timeout=35) as response: |
| return response.read(), response.url |
| except Exception as exc: |
| if getattr(exc, "code", None) in (403, 404) or attempt == 2: |
| raise |
| time.sleep(0.4) |
|
|
|
|
| class Plain(HTMLParser): |
| def __init__(self): |
| super().__init__() |
| self.skip = 0 |
| self.parts = [] |
|
|
| def handle_starttag(self, tag, attrs): |
| if tag in ("script", "style"): |
| self.skip += 1 |
| if tag in ("p", "div", "li", "h1", "h2", "h3", "tr", "section"): |
| self.parts.append("\n") |
|
|
| def handle_endtag(self, tag): |
| if tag in ("script", "style"): |
| self.skip = max(0, self.skip - 1) |
|
|
| def handle_data(self, data): |
| if not self.skip: |
| self.parts.append(data) |
|
|
|
|
| def fetch(item): |
| key, url = item |
| try: |
| body, final = get(url) |
| suffix = ".pdf" if body.startswith(b"%PDF") else ".py" if url.endswith(".py") else ".txt" |
| path = ROOT / "research" / "snapshots" / (key + suffix) |
| path.write_bytes(body) |
| decoded = body.decode("utf-8", errors="replace") if suffix != ".pdf" else "" |
| if "<html" in decoded.lower() or "<!doctype html" in decoded.lower(): |
| parser = Plain() |
| parser.feed(decoded) |
| text = re.sub(r"\n\s*\n+", "\n\n", "".join(parser.parts)) |
| path.with_suffix(".text").write_text(text, encoding="utf-8") |
| return {"id": key, "url": url, "final_url": final, "status": "fetched", "bytes": len(body), "sha256": hashlib.sha256(body).hexdigest(), "local_path": path.relative_to(ROOT).as_posix()} |
| except Exception as exc: |
| return {"id": key, "url": url, "status": "unavailable", "error": str(exc)} |
|
|
|
|
| def main(): |
| args = argparse.ArgumentParser() |
| args.add_argument("--refresh-pins", action="store_true") |
| opts = args.parse_args() |
| target = ROOT / "research" |
| (target / "snapshots").mkdir(parents=True, exist_ok=True) |
| pin_path = target / "repository_pins.json" |
| pins = json.loads(pin_path.read_text(encoding="utf-8")) if pin_path.exists() and not opts.refresh_pins else {} |
| items = list(SOURCES.items()) |
| for key, repo in REPOS.items(): |
| try: |
| if key not in pins or "commit" not in pins[key] or pins[key].get("repository") != repo: |
| try: |
| data, _ = get(f"https://api.github.com/repos/{repo}/commits?per_page=1") |
| commit = json.loads(data)[0] |
| pins[key] = {"repository": repo, "commit": commit["sha"], "commit_date": commit["commit"]["committer"]["date"]} |
| except Exception: |
| output = subprocess.check_output(["git", "ls-remote", f"https://github.com/{repo}.git", "HEAD"], text=True, timeout=35) |
| pins[key] = {"repository": repo, "commit": output.split()[0], "pin_method": "git ls-remote HEAD"} |
| sha = pins[key]["commit"] |
| try: |
| data, _ = get(f"https://api.github.com/repos/{repo}/git/trees/{sha}?recursive=1") |
| tree = json.loads(data) |
| (target / (key + "_tree.json")).write_text(json.dumps(tree, indent=2), encoding="utf-8") |
| pins[key].pop("tree_note", None) |
| paths = [x["path"] for x in tree["tree"] if x["type"] == "blob"] |
| required = [x for x in FALLBACK_PATHS[key] if x in paths] |
| extras = [x for x in paths if x not in required and x.endswith(".py") and any(term in x.lower() for term in CODE_TERMS[key])] |
| selected = (required + extras)[:24] |
| except Exception as exc: |
| pins[key]["tree_note"] = str(exc) |
| selected = FALLBACK_PATHS[key] |
| for path in selected: |
| items.append((key + "_" + path.replace("/", "_").replace(".", "_"), f"https://raw.githubusercontent.com/{repo}/{sha}/{path}")) |
| except Exception as exc: |
| pins.setdefault(key, {"repository": repo})["fetch_error"] = str(exc) |
| pin_path.write_text(json.dumps(pins, indent=2) + "\n", encoding="utf-8") |
| with concurrent.futures.ThreadPoolExecutor(max_workers=8) as pool: |
| records = list(pool.map(fetch, items)) |
| manifest = {"checked_date": "2026-10-04", "timezone": "Asia/Shanghai", "retrieved_at_utc": datetime.now(timezone.utc).isoformat(), "scope": "Public source and code inspection; no simulator execution", "repository_pins": pins, "sources": records} |
| (target / "sources.json").write_text(json.dumps(manifest, ensure_ascii=False, indent=2) + "\n", encoding="utf-8") |
| print(json.dumps({"fetched": sum(x["status"] == "fetched" for x in records), "unavailable": [x for x in records if x["status"] != "fetched"], "pins": pins}, ensure_ascii=False, indent=2)) |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
